Extended version: GPU Ray-Traced Collision Detection for Cloth Simulation

We propose a method to perform collision detection with cloths with ray-tracing at an interactive frame-rate. Our method is able to perform collision detection between cloths and volumetric objects (rigid or deformable) as well as collision detection between cloths (including auto-collision). Our method casts rays between objects to perform collision detection, and an inversion-handling algorithm is introduced to correct errors introduced by discrete simulations. GPU computing is used to improve the performances by parallelis-ing the ray-tracing. Our implementation handles scenes containing deformable objects at an interactive frame-rate, with collision detection lasting a few milliseconds.